diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index a0c5a62bb1fe60ebcd1ee814c05199e25303a4fc..8d64663585af0982d7ac3209a3fcb808c753080a 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -154,20 +154,20 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
         CaptureBaseConstPtrList getCapturesOfType(const std::string& type) const;
         CaptureBasePtrList getCapturesOfType(const std::string& type);
 
-        CaptureBaseConstPtr getCaptureOf(const SensorBaseConstPtr _sensor_ptr) const;
-        CaptureBasePtr getCaptureOf(const SensorBaseConstPtr _sensor_ptr);
+        CaptureBaseConstPtr getCaptureOf(SensorBaseConstPtr _sensor_ptr) const;
+        CaptureBasePtr getCaptureOf(SensorBaseConstPtr _sensor_ptr);
 
-        CaptureBaseConstPtr getCaptureOf(const SensorBaseConstPtr _sensor_ptr, const std::string& type) const;
-        CaptureBasePtr getCaptureOf(const SensorBasePtr _sensor_ptr, const std::string& type);
+        CaptureBaseConstPtr getCaptureOf(SensorBaseConstPtr _sensor_ptr, const std::string& type) const;
+        CaptureBasePtr getCaptureOf(SensorBasePtr _sensor_ptr, const std::string& type);
         
-        CaptureBaseConstPtrList getCapturesOf(const SensorBaseConstPtr _sensor_ptr) const;
-        CaptureBasePtrList getCapturesOf(const SensorBasePtr _sensor_ptr);
+        CaptureBaseConstPtrList getCapturesOf(SensorBaseConstPtr _sensor_ptr) const;
+        CaptureBasePtrList getCapturesOf(SensorBasePtr _sensor_ptr);
 
-        FactorBaseConstPtr getFactorOf(const ProcessorBaseConstPtr _processor_ptr) const;
-        FactorBasePtr getFactorOf(const ProcessorBasePtr _processor_ptr);
+        FactorBaseConstPtr getFactorOf(ProcessorBaseConstPtr _processor_ptr) const;
+        FactorBasePtr getFactorOf(ProcessorBasePtr _processor_ptr);
         
-        FactorBaseConstPtr getFactorOf(const ProcessorBaseConstPtr _processor_ptr, const std::string& type) const;
-        FactorBasePtr getFactorOf(const ProcessorBasePtr _processor_ptr, const std::string& type);
+        FactorBaseConstPtr getFactorOf(ProcessorBaseConstPtr _processor_ptr, const std::string& type) const;
+        FactorBasePtr getFactorOf(ProcessorBasePtr _processor_ptr, const std::string& type);
         
         unsigned int getHits() const;
 
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index bba64203c3b7285208e54ab4f6b98c3d86e47846..aae21b6eb2fa9d5552e8212259299b71e0e0c440 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -230,7 +230,7 @@ CaptureBasePtrList FrameBase::getCapturesOfType(const std::string& type)
     return captures;
 }
 
-CaptureBaseConstPtr FrameBase::getCaptureOf(const SensorBaseConstPtr _sensor_ptr, const std::string& type) const
+CaptureBaseConstPtr FrameBase::getCaptureOf(SensorBaseConstPtr _sensor_ptr, const std::string& type) const
 {
     for (auto capture_ptr : getCaptureList())
         if (capture_ptr->getSensor() == _sensor_ptr && capture_ptr->getType() == type)
@@ -238,7 +238,7 @@ CaptureBaseConstPtr FrameBase::getCaptureOf(const SensorBaseConstPtr _sensor_ptr
     return nullptr;
 }
 
-CaptureBasePtr FrameBase::getCaptureOf(const SensorBasePtr _sensor_ptr, const std::string& type)
+CaptureBasePtr FrameBase::getCaptureOf(SensorBasePtr _sensor_ptr, const std::string& type)
 {
     for (auto capture_ptr : getCaptureList())
         if (capture_ptr->getSensor() == _sensor_ptr && capture_ptr->getType() == type)
@@ -246,7 +246,7 @@ CaptureBasePtr FrameBase::getCaptureOf(const SensorBasePtr _sensor_ptr, const st
     return nullptr;
 }
 
-CaptureBaseConstPtr FrameBase::getCaptureOf(const SensorBaseConstPtr _sensor_ptr) const
+CaptureBaseConstPtr FrameBase::getCaptureOf(SensorBaseConstPtr _sensor_ptr) const
 {
     if (_sensor_ptr)
         for (auto capture_ptr : getCaptureList())
@@ -255,7 +255,7 @@ CaptureBaseConstPtr FrameBase::getCaptureOf(const SensorBaseConstPtr _sensor_ptr
     return nullptr;
 }
 
-CaptureBasePtr FrameBase::getCaptureOf(const SensorBaseConstPtr _sensor_ptr)
+CaptureBasePtr FrameBase::getCaptureOf(SensorBaseConstPtr _sensor_ptr)
 {
     if (_sensor_ptr)
         for (auto capture_ptr : getCaptureList())
@@ -264,7 +264,7 @@ CaptureBasePtr FrameBase::getCaptureOf(const SensorBaseConstPtr _sensor_ptr)
     return nullptr;
 }
 
-CaptureBaseConstPtrList FrameBase::getCapturesOf(const SensorBaseConstPtr _sensor_ptr) const
+CaptureBaseConstPtrList FrameBase::getCapturesOf(SensorBaseConstPtr _sensor_ptr) const
 {
     CaptureBaseConstPtrList captures;
     for (auto capture_ptr : getCaptureList())
@@ -273,7 +273,7 @@ CaptureBaseConstPtrList FrameBase::getCapturesOf(const SensorBaseConstPtr _senso
     return captures;
 }
 
-CaptureBasePtrList FrameBase::getCapturesOf(const SensorBasePtr _sensor_ptr)
+CaptureBasePtrList FrameBase::getCapturesOf(SensorBasePtr _sensor_ptr)
 {
     CaptureBasePtrList captures;
     for (auto capture_ptr : getCaptureList())
@@ -282,7 +282,7 @@ CaptureBasePtrList FrameBase::getCapturesOf(const SensorBasePtr _sensor_ptr)
     return captures;
 }
 
-FactorBaseConstPtr FrameBase::getFactorOf(const ProcessorBaseConstPtr _processor_ptr, const std::string& type) const
+FactorBaseConstPtr FrameBase::getFactorOf(ProcessorBaseConstPtr _processor_ptr, const std::string& type) const
 {
     for (auto factor_ptr : getConstrainedByList())
         if (factor_ptr->getProcessor() == _processor_ptr && factor_ptr->getType() == type)
@@ -295,7 +295,7 @@ FactorBaseConstPtr FrameBase::getFactorOf(const ProcessorBaseConstPtr _processor
     return nullptr;
 }
 
-FactorBasePtr FrameBase::getFactorOf(const ProcessorBasePtr _processor_ptr, const std::string& type) 
+FactorBasePtr FrameBase::getFactorOf(ProcessorBasePtr _processor_ptr, const std::string& type) 
 {
     for (auto factor_ptr : getConstrainedByList())
         if (factor_ptr->getProcessor() == _processor_ptr && factor_ptr->getType() == type)
@@ -308,7 +308,7 @@ FactorBasePtr FrameBase::getFactorOf(const ProcessorBasePtr _processor_ptr, cons
     return nullptr;
 }
 
-FactorBaseConstPtr FrameBase::getFactorOf(const ProcessorBaseConstPtr _processor_ptr) const
+FactorBaseConstPtr FrameBase::getFactorOf(ProcessorBaseConstPtr _processor_ptr) const
 {
     for (auto factor_ptr : getConstrainedByList())
         if (factor_ptr->getProcessor() == _processor_ptr)
@@ -321,7 +321,7 @@ FactorBaseConstPtr FrameBase::getFactorOf(const ProcessorBaseConstPtr _processor
     return nullptr;
 }
 
-FactorBasePtr FrameBase::getFactorOf(const ProcessorBasePtr _processor_ptr)
+FactorBasePtr FrameBase::getFactorOf(ProcessorBasePtr _processor_ptr)
 {
     for (auto factor_ptr : getConstrainedByList())
         if (factor_ptr->getProcessor() == _processor_ptr)